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WO2008058788A1 - Procédé de mesure à base d'images - Google Patents

Procédé de mesure à base d'images Download PDF

Info

Publication number
WO2008058788A1
WO2008058788A1 PCT/EP2007/059867 EP2007059867W WO2008058788A1 WO 2008058788 A1 WO2008058788 A1 WO 2008058788A1 EP 2007059867 W EP2007059867 W EP 2007059867W WO 2008058788 A1 WO2008058788 A1 WO 2008058788A1
Authority
WO
WIPO (PCT)
Prior art keywords
measuring device
individual
space
camera
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2007/059867
Other languages
German (de)
English (en)
Inventor
Wolfgang Niem
Steffen Abraham
Wolfgang Niehsen
Thomas Brosche
Sebastian Jackisch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2008058788A1 publication Critical patent/WO2008058788A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

Definitions

  • the invention relates to a method for image-based measurement of a room in which individual recordings of the room are provided. For each individual image, at least one distance measurement is carried out to at least one reference point in the room. Image processing to provide a coherent overall image of the space from the individual images is coupled in the method to distance measurements taken.
  • the invention additionally relates to a computer program with program code means in order to carry out all the steps of a method according to the invention when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in a measuring device according to the invention.
  • the invention further relates to a computer program product with program code means which are stored on a computer-readable data carrier in order to perform all the steps of a method according to the invention when the computer program is executed on a computer or a corresponding computing unit, in particular in a measuring device according to the invention.
  • an image-based three-dimensional measurement of a room is possible in an application, wherein a plurality of individual images, individual images or Single views are linked when coupling the distance measurements with the image processing.
  • Links between individual submissions can be provided, for example, by comparative determination of respective positions from which the individual admissions are made or made.
  • By assigning a single image to a position in space it is possible to determine relative geometric differences, for example via distance measurements between individual positions, by means of which reference points can likewise be defined. For example, these relative geometric differences relate to different coordinates for respective locations as well as vectorial differences between different orientations in which single images are provided.
  • Factory default set but it can be provided that in particular by a user of the meter, a new calibration of the components can be performed.
  • a result of such a measurement can be displayed, for example, in a 3D CAD model.
  • individual views can be combined robustly and reliably automatically, whereby an accuracy of less than one centimeter can be achieved for surveying.
  • the measuring device 4 has a camera 8 with an objective 10, two position detection devices, namely a multi-beam laser rangefinder 12 and a kinematic sensor 14. This sensor 14 is designed to determine an acceleration, rate of rotation and the position of the measuring device 4 when the position of the measuring device 4 changes. All mentioned components of the meter
  • the measuring device 4 is designed to detect a space 20 from different positions. It is provided that, starting from each position with the camera 8, a single image of at least one region of the space 20 is provided.
  • the respective position of the measuring device 4 in the space 20 is provided via position detection devices, in this case with the laser rangefinder 12 and the kinematic sensor 14. In this case, the respective position of the measuring device 4 is determined by the location of the measuring device 4 and the orientation of the measuring device 4 and in particular of the lens 10 relative to the space 20.
  • Selection and localization 28 of features a distance measurement 30 based on multiple reference points, a position change measurement 32 by means of inertial, acceleration yaw rate and position sensors, which can be used to stabilize the feature assignment and a user guide 34, an assignment 36 of image features over a composite image and a registration 38 of

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé de mesure d'un espace à base d'images, selon lequel : on fournit des prises de vue individuelles de l'espace ; pour chaque prise de vue individuelle, au moins une mesure de distance (30) étant effectuée par rapport à au moins un point de référence dans l'espace ; et on y couple un traitement d'images pour fournir une prise de vue globale continue de l'espace à partir des prises de vue individuelles dont les mesures de distance (30) ont été effectuées.
PCT/EP2007/059867 2006-11-17 2007-09-19 Procédé de mesure à base d'images Ceased WO2008058788A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200610054324 DE102006054324A1 (de) 2006-11-17 2006-11-17 Verfahren zur bildbasierten Vermessung
DE102006054324.6 2006-11-17

Publications (1)

Publication Number Publication Date
WO2008058788A1 true WO2008058788A1 (fr) 2008-05-22

Family

ID=38828578

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/059867 Ceased WO2008058788A1 (fr) 2006-11-17 2007-09-19 Procédé de mesure à base d'images

Country Status (2)

Country Link
DE (1) DE102006054324A1 (fr)
WO (1) WO2008058788A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD609544S1 (en) 2009-02-24 2010-02-09 Black & Decker, Inc. Drill driver
USD617622S1 (en) 2009-09-30 2010-06-15 Black & Decker Inc. Impact driver
USD626394S1 (en) 2010-02-04 2010-11-02 Black & Decker Inc. Drill
USD646947S1 (en) 2010-08-13 2011-10-18 Black & Decker Inc. Drill
US8097439B2 (en) 2008-10-07 2012-01-17 Ls9, Inc. Methods and compositions for producing fatty aldehydes
US8268599B2 (en) 2008-05-16 2012-09-18 Ls9, Inc. Method for producing a fatty alcohol or fatty aldehyde
US8999686B2 (en) 2008-10-28 2015-04-07 REG Life Sciences, LLC Methods and compositions for producing fatty alcohols
RU2572637C2 (ru) * 2010-07-28 2016-01-20 Роберт Бош Гмбх Параллельное или выполняемое последовательно в онлайн- и оффлайн- режимах формирование реконструкций для трехмерного обмера помещения
US9598706B2 (en) 2006-05-19 2017-03-21 REG Life Sciences, LLC Production of fatty acids and derivatives thereof
US10187567B2 (en) 2012-05-29 2019-01-22 Leica Geosystems Ag Method and handheld distance measurement device for indirect distance measurement by means of image-assisted angle determination function
US11046635B2 (en) 2006-05-19 2021-06-29 Genomatica, Inc. Recombinant E. coli for enhanced production of fatty acid derivatives
US11195324B1 (en) 2018-08-14 2021-12-07 Certainteed Llc Systems and methods for visualization of building structures
US11434512B2 (en) 2006-05-19 2022-09-06 Genomatica, Inc. Production of fatty acid esters

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008047267B4 (de) * 2008-09-16 2019-06-27 Jürgen Spelter Verfahren und Vorrichtung zur Erfassung von Bestimmungsmerkmalen für ein Landvermessungsverfahren
DE102008054453A1 (de) * 2008-12-10 2010-06-17 Robert Bosch Gmbh Messsystem zur Vermessung von Räumen und/oder von Objekten
GB2470203B (en) * 2009-05-13 2011-04-06 Adam Lomas Camera with integral image-based object measurement facility
DE102009052296A1 (de) * 2009-11-09 2011-05-19 Rosenberger Ag Vorrichtung zur Positionsbestimmung
DE102010043136B4 (de) * 2010-10-29 2018-10-31 Hilti Aktiengesellschaft Messgerät und Verfahren für eine berührungslose Messung von Abständen bei einem Zielobjekt
DE102013107597A1 (de) * 2013-01-11 2014-08-14 Stephan Hörmann Vermessungsverfahren für gebäudeöffnungen und gebäudeabschlussherstellverfahren sowie vorrichtungen zur durchführung derselben
DE102013016486A1 (de) * 2013-09-13 2015-04-02 Stephan Hörmann Vermessungsverfahren für Gebäudeöffnungen und Gebäudeabschlussherstellverfahren sowie Vorrichtungen zur Durchführung derselben
EP2918972B1 (fr) * 2014-03-14 2019-10-09 Leica Geosystems AG Procédé et appareil de mesure d'éloignement portatif pour la génération d'un modèle spatial

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4119180A1 (de) * 1991-06-11 1992-12-17 Merkel Peter Dr Verfahren und vorrichtung zur vermessung und dokumentation der geometrie, struktur- und materialbeschaffenheit von dreidimensionalen objekten, wie fassaden und raeume sowie deren waende, einrichtungen und installationen
US20030202089A1 (en) * 2002-02-21 2003-10-30 Yodea System and a method of three-dimensional modeling and restitution of an object

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4119180A1 (de) * 1991-06-11 1992-12-17 Merkel Peter Dr Verfahren und vorrichtung zur vermessung und dokumentation der geometrie, struktur- und materialbeschaffenheit von dreidimensionalen objekten, wie fassaden und raeume sowie deren waende, einrichtungen und installationen
US20030202089A1 (en) * 2002-02-21 2003-10-30 Yodea System and a method of three-dimensional modeling and restitution of an object

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9598706B2 (en) 2006-05-19 2017-03-21 REG Life Sciences, LLC Production of fatty acids and derivatives thereof
US11434512B2 (en) 2006-05-19 2022-09-06 Genomatica, Inc. Production of fatty acid esters
US11046635B2 (en) 2006-05-19 2021-06-29 Genomatica, Inc. Recombinant E. coli for enhanced production of fatty acid derivatives
US10844406B2 (en) 2006-05-19 2020-11-24 Genomatica, Inc. Production of fatty acids and derivatives thereof
US10563231B2 (en) 2008-05-16 2020-02-18 Genomatica, Inc. Methods and compositions for producing hydrocarbons
US9481899B2 (en) 2008-05-16 2016-11-01 REG Life Sciences, LLC Methods and compositions for producing hydrocarbons
US8268599B2 (en) 2008-05-16 2012-09-18 Ls9, Inc. Method for producing a fatty alcohol or fatty aldehyde
US8323924B2 (en) 2008-05-16 2012-12-04 Ls9, Inc. Methods and compositions for producing hydrocarbons
US8658404B2 (en) 2008-05-16 2014-02-25 Ls9, Inc. Methods and compositions for producing fatty alcohols and fatty aldehydes
US8846371B2 (en) 2008-05-16 2014-09-30 REG Life Sciences, LLC. Methods and compositions for producing alkanes and alkenes
US11186854B2 (en) 2008-05-16 2021-11-30 Genomatica, Inc. Methods and compositions for producing hydrocarbons
US9670512B2 (en) 2008-05-16 2017-06-06 REG Life Sciences, LLC Methods and compositions for producing fatty alcohols or fatty aldehydes
US8097439B2 (en) 2008-10-07 2012-01-17 Ls9, Inc. Methods and compositions for producing fatty aldehydes
US8999686B2 (en) 2008-10-28 2015-04-07 REG Life Sciences, LLC Methods and compositions for producing fatty alcohols
US9890401B2 (en) 2008-10-28 2018-02-13 REG Life Sciences, LLC Methods and compositions for producing fatty alcohols
US10961553B2 (en) 2008-10-28 2021-03-30 Genomatica, Inc. Methods and compositions for producing fatty alcohols
US9068201B2 (en) 2008-10-28 2015-06-30 REG Life Sciences, LLC. Methods and compositions for producing fatty alcohols
USD615837S1 (en) 2009-02-24 2010-05-18 Black & Decker Inc. Power tool handle
USD609544S1 (en) 2009-02-24 2010-02-09 Black & Decker, Inc. Drill driver
USD617622S1 (en) 2009-09-30 2010-06-15 Black & Decker Inc. Impact driver
USD626394S1 (en) 2010-02-04 2010-11-02 Black & Decker Inc. Drill
RU2572637C2 (ru) * 2010-07-28 2016-01-20 Роберт Бош Гмбх Параллельное или выполняемое последовательно в онлайн- и оффлайн- режимах формирование реконструкций для трехмерного обмера помещения
USD646947S1 (en) 2010-08-13 2011-10-18 Black & Decker Inc. Drill
US10187567B2 (en) 2012-05-29 2019-01-22 Leica Geosystems Ag Method and handheld distance measurement device for indirect distance measurement by means of image-assisted angle determination function
US11195324B1 (en) 2018-08-14 2021-12-07 Certainteed Llc Systems and methods for visualization of building structures
US11704866B2 (en) 2018-08-14 2023-07-18 Certainteed Llc Systems and methods for visualization of building structures
US12236523B2 (en) 2018-08-14 2025-02-25 Certainteed Llc Systems and methods for visualization of building structures

Also Published As

Publication number Publication date
DE102006054324A1 (de) 2008-05-21

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